Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 7 doc

... 110, 13 8-1 44, 1988. [ 17] J.T. Wen and K. Kreutz, "Motion and force control of multiple robotic manipulators," Automatica, 28, 72 9 -7 43, 1992. [18] P. Chiacchio and S. Chiaverini, "PD-type ... of two-arm robots," Ad- vanced Robotics, 7, 36 1-3 83, 1993. P. Chiacchio, S. Chiaverini, and B. Siciliano, "Direct and inverse kinematics for coordinated...

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... 2. 7. Conclusions 73 t.5 -0 .5 -1 -1 .5 Rotational Metric for Two Dimensional Ellipsoids w 2.0000 1.4142 ~ ,/ ,," - ~ . " - 1~,4142 / ";' ,, . )( 0 .73 21 i ;; " ... p~ - p~. (3.3) 76 __ Chapter 2. Kinematic manipulability of general mechanical systems 1.5 1 0.5 0 -0 .5 -1 Two Ellipsoids Differing In Shape end Scale -1...

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... 21, 1-8 0125 Napoli, Italy ISBN 3-5 4 0 -7 626 5-5 Springer-Verlag Berlin Heidelberg New York British Library Cataloguing in Publication Data Complex robotic systems. - (Lecture notes in control and ... and information sciences ; 233) 1.Robotics I .Chiacchio, Pasquale II .Chiaverini, Stefano 629.8'92 ISBN 354 076 2655 Library of Congress Cataloging-in-Publicat...

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... respectively. 1 .7. Advanced topics 21 20 I '""I'll - 1"¸'~' Z 10 e 0 Ref Cur -1 0 r , , , _~x 0 1 2 Time Is] Figure 1.14: Experimental results: "Fry. ... Multi-arm robot systems: A survey 50 0 ¢~ -5 0 -1 00 -1 50 0 2 4 6 Time [s] Figure 1.10: Experimental results: ~Fry. 1 .7 Advanced topics 1 .7. 1 Multi-flexible-...

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... Two Arms," in Proc. 5th Int. Conf. on Artificial Intelligence, 1 977 , pp. 71 7- 7 22. [5] [6] [7] S. Kurono, "Cooperative Control of Two Artificial Hands by a Mini-Computer," in ... Space Robotics," in Proc. IEEE Int. Workshop on Intelligent Robots and Systems, Tsuchiura, Japan, July 1990, pp. 37 5-3 81. [42] P. Chiacchio, S. Chiaverini, and B. Siciliano...

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... mechanical systems Two Arms Holding a Common Object - 2 DOF Task Space 3.5 , , 3 2.5 2 1.5 1 0,5 0 -0 .5 -t -1 ,5 D I s~ Figure 2 .7: Two arms holding a rigid payload. Consider in particular ... orienta- tion and therefore needs to be separately stated: A(c)VT = J(C)d + H(c)Tw (2.33) (c) T r,(c) T ,,' ~-( c)T'~ where j(c) = diag{&C),j~c),j~e)...

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... mechanical systems 0 -0 .5 0 -0 . 176 8 ] (2.49) C~ = ~T & = 1 .70 71 1.2 071 0 .70 71 0. 176 S a-w~ [ I °]= o I And finally, we obtain the result: (2.50) C1~2 ~-~ _1/2 : [-0 .13050.130 5-0 .183610.1836 ... SVD to this matrix, we obtain the information about the multi-arm ellipsoid: [-0 .70 7 1-0 .70 71] [0.31860] (2.52) U = 0 .70 71 -0 .70 71 ~ = 0 0...

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... matrix of [~T, ET] T using inverse by partitioning [ 37] : = D-1A (V C - Hm~l - H,,) -D-1AT(AD-1AT)-IA~I (4.49) ~. : (An -1 AT) -1 {An -1 (T C - Urea - Hv) + ff~(~} (4.50) The solution for ... non-master slave coordinated control of two-arm robots", Ad- vanced Robotics, vol. 7, no. 4, pp. 36 1-3 83, 1993. [9] P. Chiacchio and S. Chiaverini, "P...

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... evolve according to the following equations 6S -& quot ;- M-II(ICf + ~°)-I ( [ -wY ] -f~° [ vx ] vy (5.5) ¢ = + :rsMsus + ToMoUo (5 ,7) = o (5.8) In particular, if the bodies maintain rolling contact ... hand, with a 'thumb' opposing two or more 'fingers'. Some hands are tendon-driven [2, 13, 55, 81, 82], and some powered by actuators in the hand unit itself...

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... Japan, 1995. [ 37] K.A. Farry, I.D. Walker, and R.G. Baxaniuk. Myoelectirc teleoper- ation of a Complex Robotic Hand. IEEE Transactions on Robotics and Automation, 12(5) :77 5 -7 88, 1996. [38] ... Con- ference on Robotics and Automation, pages 70 9 -7 22, Atlanta, GA, 1993. A. Bicchi. On the Closure Properties of Robotic Grasping. Inter- national Journal of Robotics Rese...

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